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@InProceedings{aamas12matan,
author = {Matan Keidar and Gal A. Kaminka},
title = {Fast Frontier Detection for Robot Exploration },
booktitle = AAMAS-12,
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year = {2012},
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abstract = {Frontier-based exploration is the most common approach to exploration, a
fundamental problem in robotics. In frontier-based exploration, robots explore by repeatedly computing (and moving towards) \emph{frontiers}, the segments which separate the known regions from those unknown. However, most 
frontier detection algorithms process the entire map data. This can be a time consuming process which slows down the exploration. 
In this paper, we present two novel frontier detection algorithms: \emph{WFD}, a graph search based 
algorithm and \FFD, which is based on processing only the new laser readings data. In contrast to state-of-the-art methods, both 
algorithms do not process the entire map data. We implemented both algorithms and showed that both are faster than a  state-of-the-art frontier detector implementation (by several orders of magnitude). 
},
  wwwnote = {}, 
}